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<div class="header">
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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-types">Protected 类型</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_disparity_map_converter-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::DisparityMapConverter&lt; PointT &gt; 模板类 参考</div>  </div>
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<p>Compute point cloud from the disparity map.  
 <a href="classpcl_1_1_disparity_map_converter.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="disparity__map__converter_8h_source.html">disparity_map_converter.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a6d973636596c8edc698d813e804e983d"><td class="memItemLeft" align="right" valign="top"><a id="a6d973636596c8edc698d813e804e983d"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a6d973636596c8edc698d813e804e983d">DisparityMapConverter</a> ()</td></tr>
<tr class="memdesc:a6d973636596c8edc698d813e804e983d"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1_disparity_map_converter.html" title="Compute point cloud from the disparity map.">DisparityMapConverter</a> constructor. <br /></td></tr>
<tr class="separator:a6d973636596c8edc698d813e804e983d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63ea2a56e304a054537ebde80d5bf2d7"><td class="memItemLeft" align="right" valign="top"><a id="a63ea2a56e304a054537ebde80d5bf2d7"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a63ea2a56e304a054537ebde80d5bf2d7">~DisparityMapConverter</a> ()</td></tr>
<tr class="memdesc:a63ea2a56e304a054537ebde80d5bf2d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor. <br /></td></tr>
<tr class="separator:a63ea2a56e304a054537ebde80d5bf2d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a638fb7062f2aa5d9d9cceb1083411311"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a638fb7062f2aa5d9d9cceb1083411311">setImageCenterX</a> (const float center_x)</td></tr>
<tr class="memdesc:a638fb7062f2aa5d9d9cceb1083411311"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set x-coordinate of the image center.  <a href="classpcl_1_1_disparity_map_converter.html#a638fb7062f2aa5d9d9cceb1083411311">更多...</a><br /></td></tr>
<tr class="separator:a638fb7062f2aa5d9d9cceb1083411311"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31c00974045edaaa888f7fbfe9c7ac39"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a31c00974045edaaa888f7fbfe9c7ac39">getImageCenterX</a> () const</td></tr>
<tr class="memdesc:a31c00974045edaaa888f7fbfe9c7ac39"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get x-coordinate of the image center.  <a href="classpcl_1_1_disparity_map_converter.html#a31c00974045edaaa888f7fbfe9c7ac39">更多...</a><br /></td></tr>
<tr class="separator:a31c00974045edaaa888f7fbfe9c7ac39"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af66899bd1387ba76e5f78e3c628984ae"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#af66899bd1387ba76e5f78e3c628984ae">setImageCenterY</a> (const float center_y)</td></tr>
<tr class="memdesc:af66899bd1387ba76e5f78e3c628984ae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set y-coordinate of the image center.  <a href="classpcl_1_1_disparity_map_converter.html#af66899bd1387ba76e5f78e3c628984ae">更多...</a><br /></td></tr>
<tr class="separator:af66899bd1387ba76e5f78e3c628984ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a228f7b55d3ba292457699662b2217fb9"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a228f7b55d3ba292457699662b2217fb9">getImageCenterY</a> () const</td></tr>
<tr class="memdesc:a228f7b55d3ba292457699662b2217fb9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get y-coordinate of the image center.  <a href="classpcl_1_1_disparity_map_converter.html#a228f7b55d3ba292457699662b2217fb9">更多...</a><br /></td></tr>
<tr class="separator:a228f7b55d3ba292457699662b2217fb9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae70b419c3c08fd95882b8302d024d2fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#ae70b419c3c08fd95882b8302d024d2fb">setFocalLength</a> (const float focal_length)</td></tr>
<tr class="memdesc:ae70b419c3c08fd95882b8302d024d2fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set focal length.  <a href="classpcl_1_1_disparity_map_converter.html#ae70b419c3c08fd95882b8302d024d2fb">更多...</a><br /></td></tr>
<tr class="separator:ae70b419c3c08fd95882b8302d024d2fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad84213ef839e517e957d47ec4ce14759"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#ad84213ef839e517e957d47ec4ce14759">getFocalLength</a> () const</td></tr>
<tr class="memdesc:ad84213ef839e517e957d47ec4ce14759"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get focal length.  <a href="classpcl_1_1_disparity_map_converter.html#ad84213ef839e517e957d47ec4ce14759">更多...</a><br /></td></tr>
<tr class="separator:ad84213ef839e517e957d47ec4ce14759"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8c4997d003903a930fda74fc0aea965"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#ac8c4997d003903a930fda74fc0aea965">setBaseline</a> (const float baseline)</td></tr>
<tr class="memdesc:ac8c4997d003903a930fda74fc0aea965"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set baseline.  <a href="classpcl_1_1_disparity_map_converter.html#ac8c4997d003903a930fda74fc0aea965">更多...</a><br /></td></tr>
<tr class="separator:ac8c4997d003903a930fda74fc0aea965"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a044323d282bd35210e28ed673db6c49a"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a044323d282bd35210e28ed673db6c49a">getBaseline</a> () const</td></tr>
<tr class="memdesc:a044323d282bd35210e28ed673db6c49a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get baseline.  <a href="classpcl_1_1_disparity_map_converter.html#a044323d282bd35210e28ed673db6c49a">更多...</a><br /></td></tr>
<tr class="separator:a044323d282bd35210e28ed673db6c49a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae49b8ec651f7f34fa4d0e3962963cc1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#aae49b8ec651f7f34fa4d0e3962963cc1">setDisparityThresholdMin</a> (const float disparity_threshold_min)</td></tr>
<tr class="memdesc:aae49b8ec651f7f34fa4d0e3962963cc1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set min disparity threshold.  <a href="classpcl_1_1_disparity_map_converter.html#aae49b8ec651f7f34fa4d0e3962963cc1">更多...</a><br /></td></tr>
<tr class="separator:aae49b8ec651f7f34fa4d0e3962963cc1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab170773e3b0563cafedcde4f32914ded"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#ab170773e3b0563cafedcde4f32914ded">getDisparityThresholdMin</a> () const</td></tr>
<tr class="memdesc:ab170773e3b0563cafedcde4f32914ded"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get min disparity threshold.  <a href="classpcl_1_1_disparity_map_converter.html#ab170773e3b0563cafedcde4f32914ded">更多...</a><br /></td></tr>
<tr class="separator:ab170773e3b0563cafedcde4f32914ded"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24aa6a049e68538d5f411a4aaacae549"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a24aa6a049e68538d5f411a4aaacae549">setDisparityThresholdMax</a> (const float disparity_threshold_max)</td></tr>
<tr class="memdesc:a24aa6a049e68538d5f411a4aaacae549"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set max disparity threshold.  <a href="classpcl_1_1_disparity_map_converter.html#a24aa6a049e68538d5f411a4aaacae549">更多...</a><br /></td></tr>
<tr class="separator:a24aa6a049e68538d5f411a4aaacae549"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae6fb6826c55ba97d01c5787e9040b85"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#aae6fb6826c55ba97d01c5787e9040b85">getDisparityThresholdMax</a> () const</td></tr>
<tr class="memdesc:aae6fb6826c55ba97d01c5787e9040b85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get max disparity threshold.  <a href="classpcl_1_1_disparity_map_converter.html#aae6fb6826c55ba97d01c5787e9040b85">更多...</a><br /></td></tr>
<tr class="separator:aae6fb6826c55ba97d01c5787e9040b85"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ad025fb1ad289cb5fb78d1db4fca872"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a3ad025fb1ad289cb5fb78d1db4fca872">setImage</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::ConstPtr &amp;image)</td></tr>
<tr class="memdesc:a3ad025fb1ad289cb5fb78d1db4fca872"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set an image, that will be used for coloring of the output cloud.  <a href="classpcl_1_1_disparity_map_converter.html#a3ad025fb1ad289cb5fb78d1db4fca872">更多...</a><br /></td></tr>
<tr class="separator:a3ad025fb1ad289cb5fb78d1db4fca872"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48c4e5cbd50a54027784ddfeb2c567c1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">RGB</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a48c4e5cbd50a54027784ddfeb2c567c1">getImage</a> ()</td></tr>
<tr class="memdesc:a48c4e5cbd50a54027784ddfeb2c567c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the image, that is used for coloring of the output cloud.  <a href="classpcl_1_1_disparity_map_converter.html#a48c4e5cbd50a54027784ddfeb2c567c1">更多...</a><br /></td></tr>
<tr class="separator:a48c4e5cbd50a54027784ddfeb2c567c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50f9d0bc884df90e7ed8ce6df23183da"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a50f9d0bc884df90e7ed8ce6df23183da">loadDisparityMap</a> (const std::string &amp;file_name)</td></tr>
<tr class="memdesc:a50f9d0bc884df90e7ed8ce6df23183da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Load the disparity map.  <a href="classpcl_1_1_disparity_map_converter.html#a50f9d0bc884df90e7ed8ce6df23183da">更多...</a><br /></td></tr>
<tr class="separator:a50f9d0bc884df90e7ed8ce6df23183da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acddb8e422faf6b995480a4dc14035256"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#acddb8e422faf6b995480a4dc14035256">loadDisparityMap</a> (const std::string &amp;file_name, const size_t width, const size_t height)</td></tr>
<tr class="memdesc:acddb8e422faf6b995480a4dc14035256"><td class="mdescLeft">&#160;</td><td class="mdescRight">Load the disparity map and initialize it's size.  <a href="classpcl_1_1_disparity_map_converter.html#acddb8e422faf6b995480a4dc14035256">更多...</a><br /></td></tr>
<tr class="separator:acddb8e422faf6b995480a4dc14035256"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa976c66c117ea7db5706748201458c94"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#aa976c66c117ea7db5706748201458c94">setDisparityMap</a> (const std::vector&lt; float &gt; &amp;disparity_map)</td></tr>
<tr class="memdesc:aa976c66c117ea7db5706748201458c94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the disparity map.  <a href="classpcl_1_1_disparity_map_converter.html#aa976c66c117ea7db5706748201458c94">更多...</a><br /></td></tr>
<tr class="separator:aa976c66c117ea7db5706748201458c94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf1ff3b4ea44783a21176689de7a55dc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#abf1ff3b4ea44783a21176689de7a55dc">setDisparityMap</a> (const std::vector&lt; float &gt; &amp;disparity_map, const size_t width, const size_t height)</td></tr>
<tr class="memdesc:abf1ff3b4ea44783a21176689de7a55dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the disparity map and initialize it's size.  <a href="classpcl_1_1_disparity_map_converter.html#abf1ff3b4ea44783a21176689de7a55dc">更多...</a><br /></td></tr>
<tr class="separator:abf1ff3b4ea44783a21176689de7a55dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a126fa553c8e5bcccbba78840f89a5b8f"><td class="memItemLeft" align="right" valign="top">std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a126fa553c8e5bcccbba78840f89a5b8f">getDisparityMap</a> ()</td></tr>
<tr class="memdesc:a126fa553c8e5bcccbba78840f89a5b8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the disparity map.  <a href="classpcl_1_1_disparity_map_converter.html#a126fa553c8e5bcccbba78840f89a5b8f">更多...</a><br /></td></tr>
<tr class="separator:a126fa553c8e5bcccbba78840f89a5b8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50bcf3409693dda241f97378b240c355"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a50bcf3409693dda241f97378b240c355">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;out_cloud)</td></tr>
<tr class="memdesc:a50bcf3409693dda241f97378b240c355"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the output cloud.  <a href="classpcl_1_1_disparity_map_converter.html#a50bcf3409693dda241f97378b240c355">更多...</a><br /></td></tr>
<tr class="separator:a50bcf3409693dda241f97378b240c355"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:a014b5b5ac97f2cccaa5fadb040b35e93"><td class="memItemLeft" align="right" valign="top"><a id="a014b5b5ac97f2cccaa5fadb040b35e93"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a30d77dd8ed5925cc4d1899b37cd65ea6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a30d77dd8ed5925cc4d1899b37cd65ea6">translateCoordinates</a> (size_t row, size_t column, float disparity) const</td></tr>
<tr class="memdesc:a30d77dd8ed5925cc4d1899b37cd65ea6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Translate point from image coordinates and disparity to 3D-coordinates  <a href="classpcl_1_1_disparity_map_converter.html#a30d77dd8ed5925cc4d1899b37cd65ea6">更多...</a><br /></td></tr>
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Protected 属性</h2></td></tr>
<tr class="memitem:aec5dc0209f9a1ea3a08b312e1e84a558"><td class="memItemLeft" align="right" valign="top"><a id="aec5dc0209f9a1ea3a08b312e1e84a558"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#aec5dc0209f9a1ea3a08b312e1e84a558">center_x_</a></td></tr>
<tr class="memdesc:aec5dc0209f9a1ea3a08b312e1e84a558"><td class="mdescLeft">&#160;</td><td class="mdescRight">X-coordinate of the image center. <br /></td></tr>
<tr class="separator:aec5dc0209f9a1ea3a08b312e1e84a558"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a886ef972cb3e6e7d39f5a2895c794a5a"><td class="memItemLeft" align="right" valign="top"><a id="a886ef972cb3e6e7d39f5a2895c794a5a"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a886ef972cb3e6e7d39f5a2895c794a5a">center_y_</a></td></tr>
<tr class="memdesc:a886ef972cb3e6e7d39f5a2895c794a5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Y-coordinate of the image center. <br /></td></tr>
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<tr class="memitem:a0d9e7681afd08ef4e0dbdf4be50affe6"><td class="memItemLeft" align="right" valign="top"><a id="a0d9e7681afd08ef4e0dbdf4be50affe6"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">focal_length_</a></td></tr>
<tr class="memdesc:a0d9e7681afd08ef4e0dbdf4be50affe6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Focal length. <br /></td></tr>
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<tr class="memitem:a3abd2e11c883c42ad450c7021e03288e"><td class="memItemLeft" align="right" valign="top"><a id="a3abd2e11c883c42ad450c7021e03288e"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a3abd2e11c883c42ad450c7021e03288e">baseline_</a></td></tr>
<tr class="memdesc:a3abd2e11c883c42ad450c7021e03288e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Baseline. <br /></td></tr>
<tr class="separator:a3abd2e11c883c42ad450c7021e03288e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab60cab837c7b9ed6f2d6299fbe06fc7"><td class="memItemLeft" align="right" valign="top"><a id="aab60cab837c7b9ed6f2d6299fbe06fc7"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#aab60cab837c7b9ed6f2d6299fbe06fc7">is_color_</a></td></tr>
<tr class="memdesc:aab60cab837c7b9ed6f2d6299fbe06fc7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Is color image is set. <br /></td></tr>
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<tr class="memitem:a18fb3832e663199324e4ee2ae5f21aed"><td class="memItemLeft" align="right" valign="top"><a id="a18fb3832e663199324e4ee2ae5f21aed"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a></td></tr>
<tr class="memdesc:a18fb3832e663199324e4ee2ae5f21aed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Color image of the scene. <br /></td></tr>
<tr class="separator:a18fb3832e663199324e4ee2ae5f21aed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a038c258b285ea1ff1675c8010971073d"><td class="memItemLeft" align="right" valign="top"><a id="a038c258b285ea1ff1675c8010971073d"></a>
std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">disparity_map_</a></td></tr>
<tr class="memdesc:a038c258b285ea1ff1675c8010971073d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector for the disparity map. <br /></td></tr>
<tr class="separator:a038c258b285ea1ff1675c8010971073d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2aabe11495a4fa10355858c697419328"><td class="memItemLeft" align="right" valign="top"><a id="a2aabe11495a4fa10355858c697419328"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a></td></tr>
<tr class="memdesc:a2aabe11495a4fa10355858c697419328"><td class="mdescLeft">&#160;</td><td class="mdescRight">X-size of the disparity map. <br /></td></tr>
<tr class="separator:a2aabe11495a4fa10355858c697419328"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8165e38654e65342ffc7983a935ac85a"><td class="memItemLeft" align="right" valign="top"><a id="a8165e38654e65342ffc7983a935ac85a"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">disparity_map_height_</a></td></tr>
<tr class="memdesc:a8165e38654e65342ffc7983a935ac85a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Y-size of the disparity map. <br /></td></tr>
<tr class="separator:a8165e38654e65342ffc7983a935ac85a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5a0f48dc13af275ae6b28bee7d17c51"><td class="memItemLeft" align="right" valign="top"><a id="af5a0f48dc13af275ae6b28bee7d17c51"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_disparity_map_converter.html#af5a0f48dc13af275ae6b28bee7d17c51">disparity_threshold_min_</a></td></tr>
<tr class="memdesc:af5a0f48dc13af275ae6b28bee7d17c51"><td class="mdescLeft">&#160;</td><td class="mdescRight">Thresholds of the disparity. <br /></td></tr>
<tr class="separator:af5a0f48dc13af275ae6b28bee7d17c51"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2222ccbfd58e74a783bc7ae44c68423f"><td class="memItemLeft" align="right" valign="top"><a id="a2222ccbfd58e74a783bc7ae44c68423f"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>disparity_threshold_max_</b></td></tr>
<tr class="separator:a2222ccbfd58e74a783bc7ae44c68423f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::DisparityMapConverter&lt; PointT &gt;</h3>

<p>Compute point cloud from the disparity map. </p>
<p>Example of usage:</p>
<div class="fragment"><div class="line">pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr cloud (<span class="keyword">new</span> </div>
<div class="line">  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZI&gt;</a>);</div>
<div class="line">pcl::PointCloud&lt;pcl::RGB&gt;::Ptr left_image (<span class="keyword">new</span> </div>
<div class="line">  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::RGB&gt;</a>);</div>
<div class="line"><span class="comment">// Fill left image cloud.</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter&lt;pcl::PointXYZI&gt;</a> dmc;</div>
<div class="line">dmc.<a class="code" href="classpcl_1_1_disparity_map_converter.html#ac8c4997d003903a930fda74fc0aea965">setBaseline</a> (0.8387445f);</div>
<div class="line">dmc.<a class="code" href="classpcl_1_1_disparity_map_converter.html#ae70b419c3c08fd95882b8302d024d2fb">setFocalLength</a> (368.534700f);</div>
<div class="line">dmc.<a class="code" href="classpcl_1_1_disparity_map_converter.html#a638fb7062f2aa5d9d9cceb1083411311">setImageCenterX</a> (318.112200f);</div>
<div class="line">dmc.<a class="code" href="classpcl_1_1_disparity_map_converter.html#af66899bd1387ba76e5f78e3c628984ae">setImageCenterY</a> (224.334900f);</div>
<div class="line">dmc.<a class="code" href="classpcl_1_1_disparity_map_converter.html#aae49b8ec651f7f34fa4d0e3962963cc1">setDisparityThresholdMin</a>(15.0f);</div>
<div class="line"> </div>
<div class="line"><span class="comment">// Left view of the scene.</span></div>
<div class="line">dmc.<a class="code" href="classpcl_1_1_disparity_map_converter.html#a3ad025fb1ad289cb5fb78d1db4fca872">setImage</a> (left_image);</div>
<div class="line"><span class="comment">// Disparity map of the scene.</span></div>
<div class="line">dmc.<a class="code" href="classpcl_1_1_disparity_map_converter.html#a50f9d0bc884df90e7ed8ce6df23183da">loadDisparityMap</a> (<span class="stringliteral">&quot;disparity_map.txt&quot;</span>, 640, 480);</div>
<div class="line"> </div>
<div class="line">dmc.<a class="code" href="classpcl_1_1_disparity_map_converter.html#a50bcf3409693dda241f97378b240c355">compute</a>(*cloud);</div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a></div><div class="ttdoc">Compute point cloud from the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a3ad025fb1ad289cb5fb78d1db4fca872"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a3ad025fb1ad289cb5fb78d1db4fca872">pcl::DisparityMapConverter::setImage</a></div><div class="ttdeci">void setImage(const pcl::PointCloud&lt; pcl::RGB &gt;::ConstPtr &amp;image)</div><div class="ttdoc">Set an image, that will be used for coloring of the output cloud.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:142</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a50bcf3409693dda241f97378b240c355"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a50bcf3409693dda241f97378b240c355">pcl::DisparityMapConverter::compute</a></div><div class="ttdeci">virtual void compute(PointCloud &amp;out_cloud)</div><div class="ttdoc">Compute the output cloud.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:231</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a50f9d0bc884df90e7ed8ce6df23183da"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a50f9d0bc884df90e7ed8ce6df23183da">pcl::DisparityMapConverter::loadDisparityMap</a></div><div class="ttdeci">bool loadDisparityMap(const std::string &amp;file_name)</div><div class="ttdoc">Load the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:163</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a638fb7062f2aa5d9d9cceb1083411311"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a638fb7062f2aa5d9d9cceb1083411311">pcl::DisparityMapConverter::setImageCenterX</a></div><div class="ttdeci">void setImageCenterX(const float center_x)</div><div class="ttdoc">Set x-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:68</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_aae49b8ec651f7f34fa4d0e3962963cc1"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#aae49b8ec651f7f34fa4d0e3962963cc1">pcl::DisparityMapConverter::setDisparityThresholdMin</a></div><div class="ttdeci">void setDisparityThresholdMin(const float disparity_threshold_min)</div><div class="ttdoc">Set min disparity threshold.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:116</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_ac8c4997d003903a930fda74fc0aea965"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#ac8c4997d003903a930fda74fc0aea965">pcl::DisparityMapConverter::setBaseline</a></div><div class="ttdeci">void setBaseline(const float baseline)</div><div class="ttdoc">Set baseline.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:104</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_ae70b419c3c08fd95882b8302d024d2fb"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#ae70b419c3c08fd95882b8302d024d2fb">pcl::DisparityMapConverter::setFocalLength</a></div><div class="ttdeci">void setFocalLength(const float focal_length)</div><div class="ttdoc">Set focal length.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_af66899bd1387ba76e5f78e3c628984ae"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#af66899bd1387ba76e5f78e3c628984ae">pcl::DisparityMapConverter::setImageCenterY</a></div><div class="ttdeci">void setImageCenterY(const float center_y)</div><div class="ttdoc">Set y-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:80</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZI &gt;</a></div></div>
</div><!-- fragment --><dl class="section author"><dt>作者</dt><dd>Timur Ibadov (<a href="#" onclick="location.href='mai'+'lto:'+'iba'+'do'+'v.t'+'im'+'ur@'+'gm'+'ail'+'.c'+'om'; return false;">ibado<span style="display: none;">.nosp@m.</span>v.ti<span style="display: none;">.nosp@m.</span>mur@g<span style="display: none;">.nosp@m.</span>mail<span style="display: none;">.nosp@m.</span>.com</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a50bcf3409693dda241f97378b240c355"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a50bcf3409693dda241f97378b240c355">&#9670;&nbsp;</a></span>compute()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::compute </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>out_cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Compute the output cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">out_cloud</td><td>the variable to return the resulting cloud. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;{</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="comment">// Initialize the output cloud.</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  out_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  out_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  out_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = <a class="code" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">disparity_map_height_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  out_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (out_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * out_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_disparity_map_converter.html#aab60cab837c7b9ed6f2d6299fbe06fc7">is_color_</a> &amp;&amp; !<a class="code" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a>)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::DisparityMapConverter::compute] Memory for the image was not allocated.\n&quot;</span>);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row = 0; row &lt; <a class="code" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">disparity_map_height_</a>; ++row)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> column = 0; column &lt; <a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a>; ++column)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="comment">// ID of current disparity point.</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keywordtype">size_t</span> disparity_point = column + row * <a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="comment">// Disparity value.</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordtype">float</span> disparity = <a class="code" href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">disparity_map_</a>[disparity_point];</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="comment">// New point for the output cloud.</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> new_point;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="comment">// Init color</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_disparity_map_converter.html#aab60cab837c7b9ed6f2d6299fbe06fc7">is_color_</a>)</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <a class="code" href="structpcl_1_1common_1_1_intensity_field_accessor.html">pcl::common::IntensityFieldAccessor&lt;PointT&gt;</a> intensity_accessor;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        intensity_accessor.<a class="code" href="structpcl_1_1common_1_1_intensity_field_accessor.html#aaa27a8a9f725a7e09852969fb189e2a6">set</a> (new_point, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;            <a class="code" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a>-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[disparity_point].r +</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;            <a class="code" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a>-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[disparity_point].g +</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;            <a class="code" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a>-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[disparity_point].b) / 3.0f);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <span class="comment">// Init coordinates.</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_disparity_map_converter.html#af5a0f48dc13af275ae6b28bee7d17c51">disparity_threshold_min_</a> &lt; disparity &amp;&amp; disparity &lt; disparity_threshold_max_)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      {</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="comment">// Compute new coordinates.</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        PointXYZ point_3D (<a class="code" href="classpcl_1_1_disparity_map_converter.html#a30d77dd8ed5925cc4d1899b37cd65ea6">translateCoordinates</a> (row, column, disparity));</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        new_point.x = point_3D.x;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        new_point.y = point_3D.y;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        new_point.z = point_3D.z;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      } </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      {</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        new_point.x = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        new_point.y = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        new_point.z = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="comment">// Put the point to the output cloud.</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      out_cloud[disparity_point] = new_point;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    } <span class="comment">// column</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  } <span class="comment">// row</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a038c258b285ea1ff1675c8010971073d"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">pcl::DisparityMapConverter::disparity_map_</a></div><div class="ttdeci">std::vector&lt; float &gt; disparity_map_</div><div class="ttdoc">Vector for the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:241</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a18fb3832e663199324e4ee2ae5f21aed"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">pcl::DisparityMapConverter::image_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::RGB &gt;::ConstPtr image_</div><div class="ttdoc">Color image of the scene.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a2aabe11495a4fa10355858c697419328"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">pcl::DisparityMapConverter::disparity_map_width_</a></div><div class="ttdeci">size_t disparity_map_width_</div><div class="ttdoc">X-size of the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a30d77dd8ed5925cc4d1899b37cd65ea6"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a30d77dd8ed5925cc4d1899b37cd65ea6">pcl::DisparityMapConverter::translateCoordinates</a></div><div class="ttdeci">PointXYZ translateCoordinates(size_t row, size_t column, float disparity) const</div><div class="ttdoc">Translate point from image coordinates and disparity to 3D-coordinates</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:290</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a8165e38654e65342ffc7983a935ac85a"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">pcl::DisparityMapConverter::disparity_map_height_</a></div><div class="ttdeci">size_t disparity_map_height_</div><div class="ttdoc">Y-size of the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_aab60cab837c7b9ed6f2d6299fbe06fc7"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#aab60cab837c7b9ed6f2d6299fbe06fc7">pcl::DisparityMapConverter::is_color_</a></div><div class="ttdeci">bool is_color_</div><div class="ttdoc">Is color image is set.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_af5a0f48dc13af275ae6b28bee7d17c51"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#af5a0f48dc13af275ae6b28bee7d17c51">pcl::DisparityMapConverter::disparity_threshold_min_</a></div><div class="ttdeci">float disparity_threshold_min_</div><div class="ttdoc">Thresholds of the disparity.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:248</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a963c0da7320055c79e5af0df4f6ad224"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">pcl::PointCloud::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all points in a cloud and sets the width and height to 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1common_1_1_intensity_field_accessor_html"><div class="ttname"><a href="structpcl_1_1common_1_1_intensity_field_accessor.html">pcl::common::IntensityFieldAccessor</a></div><div class="ttdef"><b>Definition:</b> intensity.h:52</div></div>
<div class="ttc" id="astructpcl_1_1common_1_1_intensity_field_accessor_html_aaa27a8a9f725a7e09852969fb189e2a6"><div class="ttname"><a href="structpcl_1_1common_1_1_intensity_field_accessor.html#aaa27a8a9f725a7e09852969fb189e2a6">pcl::common::IntensityFieldAccessor::set</a></div><div class="ttdeci">void set(PointT &amp;p, float intensity) const</div><div class="ttdoc">sets the intensity value of a point</div><div class="ttdef"><b>Definition:</b> intensity.h:76</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a044323d282bd35210e28ed673db6c49a">&#9670;&nbsp;</a></span>getBaseline()</h2>

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<p>Get baseline. </p>
<dl class="section return"><dt>返回</dt><dd>the baseline. </dd></dl>
<div class="fragment"><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;{</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a3abd2e11c883c42ad450c7021e03288e">baseline_</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a3abd2e11c883c42ad450c7021e03288e"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a3abd2e11c883c42ad450c7021e03288e">pcl::DisparityMapConverter::baseline_</a></div><div class="ttdeci">float baseline_</div><div class="ttdoc">Baseline.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:233</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a126fa553c8e5bcccbba78840f89a5b8f">&#9670;&nbsp;</a></span>getDisparityMap()</h2>

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<p>Get the disparity map. </p>
<dl class="section return"><dt>返回</dt><dd>the disparity map. </dd></dl>
<div class="fragment"><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;{</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">disparity_map_</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aae6fb6826c55ba97d01c5787e9040b85">&#9670;&nbsp;</a></span>getDisparityThresholdMax()</h2>

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<p>Get max disparity threshold. </p>
<dl class="section return"><dt>返回</dt><dd>max disparity threshold. </dd></dl>
<div class="fragment"><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;{</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">return</span> disparity_threshold_max_;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab170773e3b0563cafedcde4f32914ded">&#9670;&nbsp;</a></span>getDisparityThresholdMin()</h2>

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<p>Get min disparity threshold. </p>
<dl class="section return"><dt>返回</dt><dd>min disparity threshold. </dd></dl>
<div class="fragment"><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#af5a0f48dc13af275ae6b28bee7d17c51">disparity_threshold_min_</a>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad84213ef839e517e957d47ec4ce14759">&#9670;&nbsp;</a></span>getFocalLength()</h2>

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<p>Get focal length. </p>
<dl class="section return"><dt>返回</dt><dd>the focal length. </dd></dl>
<div class="fragment"><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;{</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">focal_length_</a>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a0d9e7681afd08ef4e0dbdf4be50affe6"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">pcl::DisparityMapConverter::focal_length_</a></div><div class="ttdeci">float focal_length_</div><div class="ttdoc">Focal length.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:231</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a48c4e5cbd50a54027784ddfeb2c567c1">&#9670;&nbsp;</a></span>getImage()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::Ptr <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getImage</td>
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<p>Get the image, that is used for coloring of the output cloud. </p>
<dl class="section return"><dt>返回</dt><dd>the image. </dd></dl>
<div class="fragment"><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;{</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  pcl::PointCloud&lt;pcl::RGB&gt;::Ptr image_pointer (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::RGB&gt;</a>);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  *image_pointer = *<a class="code" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordflow">return</span> image_pointer;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a31c00974045edaaa888f7fbfe9c7ac39">&#9670;&nbsp;</a></span>getImageCenterX()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">float <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getImageCenterX</td>
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<p>Get x-coordinate of the image center. </p>
<dl class="section return"><dt>返回</dt><dd>x-coordinate of the image center. </dd></dl>
<div class="fragment"><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#aec5dc0209f9a1ea3a08b312e1e84a558">center_x_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_aec5dc0209f9a1ea3a08b312e1e84a558"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#aec5dc0209f9a1ea3a08b312e1e84a558">pcl::DisparityMapConverter::center_x_</a></div><div class="ttdeci">float center_x_</div><div class="ttdoc">X-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:227</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a228f7b55d3ba292457699662b2217fb9">&#9670;&nbsp;</a></span>getImageCenterY()</h2>

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          <td class="memname">float <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getImageCenterY</td>
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<p>Get y-coordinate of the image center. </p>
<dl class="section return"><dt>返回</dt><dd>y-coordinate of the image center. </dd></dl>
<div class="fragment"><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;{</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a886ef972cb3e6e7d39f5a2895c794a5a">center_y_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a886ef972cb3e6e7d39f5a2895c794a5a"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a886ef972cb3e6e7d39f5a2895c794a5a">pcl::DisparityMapConverter::center_y_</a></div><div class="ttdeci">float center_y_</div><div class="ttdoc">Y-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:229</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a50f9d0bc884df90e7ed8ce6df23183da">&#9670;&nbsp;</a></span>loadDisparityMap() <span class="overload">[1/2]</span></h2>

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          <td class="memname">bool <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::loadDisparityMap </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em></td><td>)</td>
          <td></td>
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<p>Load the disparity map. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the disparity map file. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if the disparity map was successfully loaded; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;{</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  std::fstream disparity_file;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="comment">// Open the disparity file</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  disparity_file.open (file_name.c_str (), std::fstream::in);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">if</span> (!disparity_file.is_open ())</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::DisparityMapConverter::loadDisparityMap] Can&#39;t load the file.\n&quot;</span>);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="comment">// Allocate memory for the disparity map.</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">disparity_map_</a>.resize (<a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a> * <a class="code" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">disparity_map_height_</a>);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="comment">// Reading the disparity map.</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row = 0; row &lt; <a class="code" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">disparity_map_height_</a>; ++row)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> column = 0; column &lt; <a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a>; ++column)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordtype">float</span> disparity;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      disparity_file &gt;&gt; disparity;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">disparity_map_</a>[column + row * <a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a>] = disparity;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    } <span class="comment">// column</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  } <span class="comment">// row</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#acddb8e422faf6b995480a4dc14035256">&#9670;&nbsp;</a></span>loadDisparityMap() <span class="overload">[2/2]</span></h2>

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          <td class="memname">bool <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::loadDisparityMap </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const size_t&#160;</td>
          <td class="paramname"><em>width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const size_t&#160;</td>
          <td class="paramname"><em>height</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Load the disparity map and initialize it's size. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the disparity map file. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>width of the disparity map. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height</td><td>height of the disparity map. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if the disparity map was successfully loaded; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;{</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="comment">// Initialize disparity map&#39;s size. </span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a> = width;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">disparity_map_height_</a> = height;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="comment">// Load the disparity map.</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a50f9d0bc884df90e7ed8ce6df23183da">loadDisparityMap</a> (file_name);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac8c4997d003903a930fda74fc0aea965">&#9670;&nbsp;</a></span>setBaseline()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setBaseline </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>baseline</em></td><td>)</td>
          <td></td>
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<p>Set baseline. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">baseline</td><td>baseline. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;{</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a3abd2e11c883c42ad450c7021e03288e">baseline_</a> = baseline;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa976c66c117ea7db5706748201458c94">&#9670;&nbsp;</a></span>setDisparityMap() <span class="overload">[1/2]</span></h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setDisparityMap </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>disparity_map</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Set the disparity map. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">disparity_map</td><td>the disparity map. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;{</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">disparity_map_</a> = disparity_map;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#abf1ff3b4ea44783a21176689de7a55dc">&#9670;&nbsp;</a></span>setDisparityMap() <span class="overload">[2/2]</span></h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setDisparityMap </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>disparity_map</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const size_t&#160;</td>
          <td class="paramname"><em>width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const size_t&#160;</td>
          <td class="paramname"><em>height</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Set the disparity map and initialize it's size. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">disparity_map</td><td>the disparity map. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width</td><td>width of the disparity map. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height</td><td>height of the disparity map. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if the disparity map was successfully loaded; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;{</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a> = width;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">disparity_map_height_</a> = height;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">disparity_map_</a> = disparity_map;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a24aa6a049e68538d5f411a4aaacae549">&#9670;&nbsp;</a></span>setDisparityThresholdMax()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setDisparityThresholdMax </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>disparity_threshold_max</em></td><td>)</td>
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<p>Set max disparity threshold. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">disparity_threshold_max</td><td>max disparity threshold. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;{</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  disparity_threshold_max_ = disparity_threshold_max;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aae49b8ec651f7f34fa4d0e3962963cc1">&#9670;&nbsp;</a></span>setDisparityThresholdMin()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setDisparityThresholdMin </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>disparity_threshold_min</em></td><td>)</td>
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<p>Set min disparity threshold. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">disparity_threshold_min</td><td>min disparity threshold. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;{</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#af5a0f48dc13af275ae6b28bee7d17c51">disparity_threshold_min_</a> = disparity_threshold_min;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae70b419c3c08fd95882b8302d024d2fb">&#9670;&nbsp;</a></span>setFocalLength()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setFocalLength </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>focal_length</em></td><td>)</td>
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<p>Set focal length. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">focal_length</td><td>the focal length. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;{</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">focal_length_</a> = focal_length;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3ad025fb1ad289cb5fb78d1db4fca872">&#9670;&nbsp;</a></span>setImage()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setImage </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>image</em></td><td>)</td>
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<p>Set an image, that will be used for coloring of the output cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">image</td><td>the image. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a> = image;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="comment">// Set disparity map&#39;s size same with the image size.</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a> = <a class="code" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a>-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">disparity_map_height_</a> = <a class="code" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a>-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#aab60cab837c7b9ed6f2d6299fbe06fc7">is_color_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a638fb7062f2aa5d9d9cceb1083411311">&#9670;&nbsp;</a></span>setImageCenterX()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setImageCenterX </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>center_x</em></td><td>)</td>
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<p>Set x-coordinate of the image center. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">center_x</td><td>x-coordinate of the image center. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;{</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#aec5dc0209f9a1ea3a08b312e1e84a558">center_x_</a> = center_x;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#af66899bd1387ba76e5f78e3c628984ae">&#9670;&nbsp;</a></span>setImageCenterY()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setImageCenterY </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>center_y</em></td><td>)</td>
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<p>Set y-coordinate of the image center. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">center_y</td><td>y-coordinate of the image center. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;{</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <a class="code" href="classpcl_1_1_disparity_map_converter.html#a886ef972cb3e6e7d39f5a2895c794a5a">center_y_</a> = center_y;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a30d77dd8ed5925cc4d1899b37cd65ea6">&#9670;&nbsp;</a></span>translateCoordinates()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> <a class="el" href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::translateCoordinates </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>row</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>column</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>disparity</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Translate point from image coordinates and disparity to 3D-coordinates </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">row</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">column</td><td></td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">disparity</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the 3D point, that corresponds to the input parametres and the camera calibration. </dd></dl>
<div class="fragment"><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;{</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="comment">// Returning point.</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  PointXYZ point_3D;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordflow">if</span> (disparity != 0.0f)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="comment">// Compute 3D-coordinates based on the image coordinates, the disparity and the camera parameters.</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="keywordtype">float</span> z_value = <a class="code" href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">focal_length_</a> * <a class="code" href="classpcl_1_1_disparity_map_converter.html#a3abd2e11c883c42ad450c7021e03288e">baseline_</a> / disparity;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    point_3D.z = z_value;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    point_3D.x = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (column) - <a class="code" href="classpcl_1_1_disparity_map_converter.html#aec5dc0209f9a1ea3a08b312e1e84a558">center_x_</a>) * (z_value / <a class="code" href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">focal_length_</a>);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    point_3D.y = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row) - <a class="code" href="classpcl_1_1_disparity_map_converter.html#a886ef972cb3e6e7d39f5a2895c794a5a">center_y_</a>) * (z_value / <a class="code" href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">focal_length_</a>);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  }</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="keywordflow">return</span> point_3D;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;}</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>stereo/include/pcl/stereo/<a class="el" href="disparity__map__converter_8h_source.html">disparity_map_converter.h</a></li>
<li>stereo/include/pcl/stereo/impl/<a class="el" href="disparity__map__converter_8hpp_source.html">disparity_map_converter.hpp</a></li>
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